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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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<div id="projectname">SOEM
&#160;<span id="projectnumber">v1.3.0</span>
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<p>Example code for Simple Open EtherCAT master.
<a href="#details">More...</a></p>
<div class="textblock"><code>#include &lt;stdio.h&gt;</code><br/>
<code>#include &lt;stdlib.h&gt;</code><br/>
<code>#include &lt;sys/time.h&gt;</code><br/>
<code>#include &lt;unistd.h&gt;</code><br/>
<code>#include &lt;sched.h&gt;</code><br/>
<code>#include &lt;string.h&gt;</code><br/>
<code>#include &lt;time.h&gt;</code><br/>
<code>#include &lt;pthread.h&gt;</code><br/>
<code>#include &lt;math.h&gt;</code><br/>
<code>#include &quot;<a class="el" href="ethercattype_8h.html">ethercattype.h</a>&quot;</code><br/>
<code>#include &quot;nicdrv.h&quot;</code><br/>
<code>#include &quot;<a class="el" href="ethercatbase_8h.html">ethercatbase.h</a>&quot;</code><br/>
<code>#include &quot;<a class="el" href="ethercatmain_8h.html">ethercatmain.h</a>&quot;</code><br/>
<code>#include &quot;<a class="el" href="ethercatcoe_8h.html">ethercatcoe.h</a>&quot;</code><br/>
<code>#include &quot;<a class="el" href="ethercatconfig_8h.html">ethercatconfig.h</a>&quot;</code><br/>
<code>#include &quot;<a class="el" href="ethercatdc_8h.html">ethercatdc.h</a>&quot;</code><br/>
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Data Structures</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structin__EBOXt.html">in_EBOXt</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structout__EBOXt.html">out_EBOXt</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structout__EBOX__streamt.html">out_EBOX_streamt</a></td></tr>
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Macros</h2></td></tr>
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Functions</h2></td></tr>
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<tr class="memitem:a2236b3aa05099f148da8f6a0c6b967c7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ebox_8c.html#a2236b3aa05099f148da8f6a0c6b967c7">ec_sync</a> (int64 reftime, int64 cycletime, int64 *offsettime)</td></tr>
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<tr class="memitem:a41b4a777da4c9dfc6cec01a2d12d4dbe"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ebox_8c.html#a41b4a777da4c9dfc6cec01a2d12d4dbe">ecatthread</a> (void *ptr)</td></tr>
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Variables</h2></td></tr>
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<tr class="memitem:abd49ea7d1a34c36e74ff633f727a6260"><td class="memItemLeft" align="right" valign="top">char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ebox_8c.html#abd49ea7d1a34c36e74ff633f727a6260">IOmap</a> [4096]</td></tr>
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<tr class="memitem:a786c0b6e0295c610823d0d38f564c0e3"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ebox_8c.html#a786c0b6e0295c610823d0d38f564c0e3">dorun</a> = 0</td></tr>
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<tr class="memitem:a45987e7445a7144a722e274902e7e2f4"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ebox_8c.html#a45987e7445a7144a722e274902e7e2f4">deltat</a></td></tr>
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<tr class="memitem:a1874c32aded0242cf2392a57ddf8ee2f"><td class="memItemLeft" align="right" valign="top">int64&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ebox_8c.html#a1874c32aded0242cf2392a57ddf8ee2f">toff</a></td></tr>
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<tr class="memitem:a2b96b76369a010a02904ff7d73231258"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ebox_8c.html#a2b96b76369a010a02904ff7d73231258">DCdiff</a></td></tr>
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<tr class="memitem:a0c98ab56e4779bc5f994fdff60723115"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ebox_8c.html#a0c98ab56e4779bc5f994fdff60723115">os</a></td></tr>
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<tr class="memitem:ac7d30da33fc2242eb2cafaea05d3f8b8"><td class="memItemLeft" align="right" valign="top">uint32&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ebox_8c.html#ac7d30da33fc2242eb2cafaea05d3f8b8">ob</a></td></tr>
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<tr class="memitem:a6b411a5fbb3b39e278481486d40f3be0"><td class="memItemLeft" align="right" valign="top">int16&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ebox_8c.html#a6b411a5fbb3b39e278481486d40f3be0">ob2</a></td></tr>
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<tr class="memitem:ad97769650501b7ec6c90c8cd63f9ff77"><td class="memItemLeft" align="right" valign="top">uint8&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ebox_8c.html#ad97769650501b7ec6c90c8cd63f9ff77">ob3</a></td></tr>
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<tr class="memitem:a0a1433271fddfed84bc959ae6c202e5a"><td class="memItemLeft" align="right" valign="top">pthread_cond_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ebox_8c.html#a0a1433271fddfed84bc959ae6c202e5a">cond</a> = PTHREAD_COND_INITIALIZER</td></tr>
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<tr class="memitem:a4acff8232e4aec9cd5c6dc200ac55ef3"><td class="memItemLeft" align="right" valign="top">pthread_mutex_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ebox_8c.html#a4acff8232e4aec9cd5c6dc200ac55ef3">mutex</a> = PTHREAD_MUTEX_INITIALIZER</td></tr>
<tr class="separator:a4acff8232e4aec9cd5c6dc200ac55ef3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a267e2a577bc616ec1428d03a689d2af9"><td class="memItemLeft" align="right" valign="top">int64&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ebox_8c.html#a267e2a577bc616ec1428d03a689d2af9">integral</a> =0</td></tr>
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<tr class="memitem:ae0f38b9682cb479f3a0e1a3d1e90c207"><td class="memItemLeft" align="right" valign="top">uint32&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ebox_8c.html#ae0f38b9682cb479f3a0e1a3d1e90c207">cyclecount</a></td></tr>
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<tr class="memitem:a1ac76e62a75e216971a796852e56ff00"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structin__EBOX__streamt.html">in_EBOX_streamt</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ebox_8c.html#a1ac76e62a75e216971a796852e56ff00">in_EBOX</a></td></tr>
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<tr class="memitem:a61c98aa97abe433ae56d7ece59d380ab"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structout__EBOX__streamt.html">out_EBOX_streamt</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ebox_8c.html#a61c98aa97abe433ae56d7ece59d380ab">out_EBOX</a></td></tr>
<tr class="separator:a61c98aa97abe433ae56d7ece59d380ab"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a92f92f2f98080c55d071418ace04080a"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ebox_8c.html#a92f92f2f98080c55d071418ace04080a">ain</a> [2]</td></tr>
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<tr class="memitem:aaa4aea6db31f8a7b9829bf7601dff88f"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ebox_8c.html#aaa4aea6db31f8a7b9829bf7601dff88f">ainc</a></td></tr>
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<tr class="memitem:a62be9ae691c0813cd12581aa7bd1446f"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ebox_8c.html#a62be9ae691c0813cd12581aa7bd1446f">streampos</a></td></tr>
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<tr class="memitem:aa8bd2143106b4e0b34986858d22a656c"><td class="memItemLeft" align="right" valign="top">int16&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ebox_8c.html#aa8bd2143106b4e0b34986858d22a656c">stream1</a> [<a class="el" href="ebox_8c.html#acd1f886f4037a276772c4cc87461c310">MAXSTREAM</a>]</td></tr>
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<tr class="memitem:afff7e31bb8aac02b570d1e4782805a6e"><td class="memItemLeft" align="right" valign="top">int16&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ebox_8c.html#afff7e31bb8aac02b570d1e4782805a6e">stream2</a> [<a class="el" href="ebox_8c.html#acd1f886f4037a276772c4cc87461c310">MAXSTREAM</a>]</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Example code for Simple Open EtherCAT master. </p>
<p>Usage : ebox [ifname] [cycletime] ifname is NIC interface, f.e. eth0 cycletime in us, f.e. 500</p>
<p>This test is specifically build for the E/BOX.</p>
<p>(c)Arthur Ketels 2011 </p>
</div><h2 class="groupheader">Macro Definition Documentation</h2>
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<td class="memname">#define MAXSTREAM&#160;&#160;&#160;200000</td>
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<td class="memname">#define NSEC_PER_SEC&#160;&#160;&#160;1000000000</td>
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<td class="memname">#define SYNC0TIME&#160;&#160;&#160;8000</td>
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<h2 class="groupheader">Function Documentation</h2>
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<td class="memname">void add_timespec </td>
<td>(</td>
<td class="paramtype">struct timespec *&#160;</td>
<td class="paramname"><em>ts</em>, </td>
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<td class="paramtype">int64&#160;</td>
<td class="paramname"><em>addtime</em>&#160;</td>
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<td class="memname">void ecatthread </td>
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<td class="paramtype">int&#160;</td>
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<td class="paramtype">int&#160;</td>
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<h2 class="groupheader">Variable Documentation</h2>
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<td class="memname">pthread_cond_t cond = PTHREAD_COND_INITIALIZER</td>
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<td class="memname">int dorun = 0</td>
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<td class="memname"><a class="el" href="structin__EBOX__streamt.html">in_EBOX_streamt</a>* in_EBOX</td>
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<td class="memname">char IOmap[4096]</td>
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<td class="memname">pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER</td>
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<td class="memname"><a class="el" href="structout__EBOX__streamt.html">out_EBOX_streamt</a>* out_EBOX</td>
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<td class="memname">struct sched_param schedp</td>
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<td class="memname">int16 stream1[<a class="el" href="ebox_8c.html#acd1f886f4037a276772c4cc87461c310">MAXSTREAM</a>]</td>
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<td class="memname">int16 stream2[<a class="el" href="ebox_8c.html#acd1f886f4037a276772c4cc87461c310">MAXSTREAM</a>]</td>
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<td class="memname">int tmax =0</td>
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